//WARNING: untested
public static __rot2t__ From__m22t__(__m22t__ m)
{
// cos(a) sin(a)
//-sin(a) cos(a)
if (m.M00 >= -1.0 && m.M00 <= 1.0)
{
return(new __rot2t__((__ft__)System.Math.Acos(m.M00)));
}
else
{
throw new ArgumentException("Given __m22t__ is not a Rotation-Matrix");
}
}
/// <summary>
/// </summary>
public static __m33t__ operator *(__rot3t__ r3, __rot2t__ r2)
{
__m33t__ m33 = (__m33t__)r3;
__m22t__ m22 = (__m22t__)r2;
return(new __m33t__(
m33.M00 * m22.M00 + m33.M01 * m22.M10,
m33.M00 * m22.M01 + m33.M01 * m22.M11,
m33.M02,
m33.M10 * m22.M00 + m33.M11 * m22.M10,
m33.M10 * m22.M01 + m33.M11 * m22.M11,
m33.M12,
m33.M20 * m22.M00 + m33.M21 * m22.M10,
m33.M20 * m22.M01 + m33.M21 * m22.M11,
m33.M22
));
}
public static __m22t__ Multiply(__rot2t__ rot, __m22t__ mat)
{
return((__m22t__)rot * mat);
}